Sliding-mode motion/force control of constrained robots |
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| Authors: | Kuang-Yow Lian Chia-Ru Lin |
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| Affiliation: | Dept. of Electr. Eng., Chung Yuan Christian Univ., Chung Li; |
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| Abstract: | A sliding-mode controller is proposed for the simultaneous position and force control of constrained robot manipulators with parametric uncertainties. Based on this controller, the trajectories of the closed-loop system can reach a stable sliding surface in finite time. Under this condition, the asymptotic convergence of the motion error and force error can be successfully ensured with improved results compared to previous studies |
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